Related papers: CIMAX: Collective Information Maximization in Robo…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
The network paradigm is used to gain insight into the structural root causes of the resilience of consensus in dynamic collective behaviors, and to analyze the controllability of the swarm dynamics. Here we devise the dynamic signaling…
The spontaneous organization of collective activities in animal groups and societies has attracted a considerable amount of attention over the last decade. This kind of coordination often permits group-living species to achieve collective…
Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics -…
Collective decision-making is a widespread phenomenon in both biological and artificial systems, where individuals reach a consensus through social interactions. While traditional models of opinion dynamics and contagion focus on pairwise…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…
In this paper we study the time delays affecting the diffusion of information in an underwater heterogeneous robot swarm, considering a time-sensitive environment. In many situations each member of the swarm must update its knowledge about…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
In large-scale natural disasters, humans are likely to fail when they attempt to reach high-risk sites or act in search and rescue operations. Robots, however, outdo their counterparts in surviving the hazards and handling the search and…
Effective resource allocation in sensor networks, IoT systems, and distributed computing is essential for applications such as environmental monitoring, surveillance, and smart infrastructure. Sensors or agents must optimize their resource…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…
In this paper, we explore how to optimize task allocation for robot swarms in dynamic environments, emphasizing the necessity of formulating robust, flexible, and scalable strategies for robot cooperation. We introduce a novel framework…
Finding the distant source of an odor dispersed by a turbulent flow is a vital task for many organisms, either for foraging or for mating purposes. At the level of individual search, animals like moths have developed effective strategies to…